This repository has been archived by the owner on Nov 16, 2022. It is now read-only.
forked from reedhedges/AriaCoda
-
Notifications
You must be signed in to change notification settings - Fork 0
/
ArLogFileConnection.h
93 lines (73 loc) · 2.92 KB
/
ArLogFileConnection.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004-2005 ActivMedia Robotics LLC
Copyright (C) 2006-2010 MobileRobots Inc.
Copyright (C) 2011-2015 Adept Technology, Inc.
Copyright (C) 2016-2018 Omron Adept Technologies, Inc.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ARLOGFILECONNECTION_H
#define ARLOGFILECONNECTION_H
#include "ArDeviceConnection.h"
#include <string>
#include <stdio.h>
#include "ariaTypedefs.h"
/** For connecting through a specially formatted log file
@deprecated
*/
class ArLogFileConnection: public ArDeviceConnection
{
public:
/// Constructor
AREXPORT ArLogFileConnection();
/// Destructor also closes connection
AREXPORT virtual ~ArLogFileConnection();
/// Opens a connection to the given host and port
AREXPORT int open(const char * fname = NULL);
AREXPORT void setLogFile(const char *fname = NULL);
AREXPORT virtual bool openSimple(void);
AREXPORT virtual int getStatus(void);
AREXPORT virtual bool close(void);
AREXPORT virtual int read(const char *data, unsigned int size,
unsigned int msWait = 0);
AREXPORT virtual int write(const char *data, unsigned int size);
AREXPORT virtual const char * getOpenMessage(int messageNumber);
AREXPORT virtual ArTime getTimeRead(int index);
AREXPORT virtual bool isTimeStamping(void);
/// Gets the name of the host connected to
AREXPORT const char *getLogFile(void);
/* This doens't exist in the C++ file so I'm commenting it out
/// Gets the initial pose of the robot
AREXPORT ArPose getLogPose(void);
*/
/// Internal function used by open and openSimple
AREXPORT int internalOpen(void);
enum Open {
OPEN_FILE_NOT_FOUND = 1, ///< Can't find the file
OPEN_NOT_A_LOG_FILE ///< Doesn't look like a log file
};
// robot parameters
ArPose myPose;
bool havePose;
char myName[100];
char myType[20];
char mySubtype[20];
protected:
void buildStrMap(void);
ArStrMap myStrMap;
int myStatus;
int stopAfter; // temp here for returning one packet at a time
const char *myLogFile;
FILE *myFD; // file descriptor
};
#endif //ARLOGFILECONNECTION_H